/*
 * ActionScouting.h
 *
 *  Created on: 09/giu/2011
 *      Author: lugas
 */

#ifndef ACTIONSCOUTING_H_
#define ACTIONSCOUTING_H_
#include "Aria.h"

class ActionScouting: public ArAction {
public:

	ActionScouting(double degree, double degreeStep);

	virtual ~ActionScouting(void) {
	}
	;

	virtual ArActionDesired *fire(ArActionDesired currentDesired);

	virtual void setRobot(ArRobot *robot);

	double myDegreeStep;
	double mySpeed;
	int sign;
	double angle;
	double startAngle;
	double angleLeft,angleRight;
	bool left,right;

protected:

	ArActionDesired myDesired;


	ArRangeDevice *mySonar;


private:
	double myCurrentDistance;
	double myStartDistance;


};




#endif /* ACTIONSCOUTING_H_ */
